CN114170807A

CN114170807A - Vehicle track information acquisition method, device, equipment and storage medium

Info

Publication number: CN114170807A
Application number: CN202010953045.6A
Authority: CN
Inventors: 桂杰; 秦建良; 龚吕; 乔健
Original assignee: Beijing Juli Science and Technology Co Ltd
Current assignee: Beijing Juli Science and Technology Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2022-03-11
Anticipated expiration: 2040-09-11
Also published as: CN114170807B

Abstract

The application provides a vehicle track information acquisition method, a vehicle track information acquisition device and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining first vehicle information detected by first road side equipment and second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node; and generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment. According to the method, road side equipment is arranged at the junction of the road and the road node and near the junction, and road vehicle information is detected, so that the track information of the vehicle can be quickly and accurately obtained.

Description

Vehicle track information acquisition method, device, equipment and storage medium

Technical Field

The present application relates to the field of intelligent transportation technologies, and in particular, to a method, an apparatus, a device, and a storage medium for acquiring vehicle trajectory information.

Background

With the development of cities, the urban traffic is more and more complex, and the urban traffic needs to be managed and controlled.

In the prior art, a camera can be arranged on a road, and the camera is used for collecting images of the road and vehicles; and analyzing the image to obtain the vehicle track so as to monitor the traffic.

However, in the prior art, the image analysis method needs a complex image processing algorithm, and further, the analysis and recognition speed is slow, and the vehicle track information cannot be obtained quickly. The application of ETC data in urban traffic management is researched, the ETC data is used as one of important components of a road perception system, the inherent information (such as vehicle types, license plate numbers, vehicle owners and the like) of vehicles is read through special short-range communication between ETC vehicle-mounted equipment and a road side unit microwave antenna, the dynamic tracking and real-time information control of the vehicles is realized on urban roads, effective complementation is formed between the ETC vehicle-mounted equipment and perception equipment such as traditional traffic videos and checkpoints, and an experience sample plate of a new application scene is formed. The comprehensive improvement of accurate perception, accurate analysis, fine management and elaborate service capability is realized, and the method becomes a powerful support for accelerating the construction of the strong traffic countries.

Disclosure of Invention

The application provides a vehicle track information acquisition method, a vehicle track information acquisition device, vehicle track information acquisition equipment and a storage medium, which are used for solving the problems of low identification speed and low accuracy when a camera monitors road traffic.

In one aspect, the present application provides a vehicle trajectory information obtaining method, where the method is applied to a background system, and the method includes:

the method comprises the steps of obtaining first vehicle information detected by first road side equipment and second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node;

and generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment.

Optionally, the first vehicle information includes a first vehicle identifier and first location information, the second vehicle information includes a second vehicle identifier and second location information, where the first vehicle identifier and the second vehicle identifier are used to characterize identity information of a vehicle, and the first location information and the second location information are used to correspondingly characterize locations of the first road-side device and the second road-side device at the road node, and then according to the first vehicle information detected by the first road-side device and the second vehicle information detected by at least one of the second road-side devices, generating trajectory information of at least one vehicle, including:

determining the first position information and the first vehicle identifier corresponding to the first position information according to the first vehicle information;

determining the second position information and the second vehicle identifier corresponding to the second position information according to the first vehicle information;

and when the first vehicle identifier is the same as the second vehicle identifier, associating the first position information with the second position information to obtain track information of a vehicle corresponding to the first vehicle identifier or the second vehicle identifier.

Optionally, if the first road-side device is disposed on a road where the driving direction is entering the road node, and the second road-side device is disposed on a road where the driving direction is leaving the road node, associating the first location information with the second location information, and obtaining the track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

and taking the first position information as an entrance starting point of the vehicle and the second position information as an exit end point of the vehicle to obtain track information from the entrance starting point to the exit end point of the vehicle.

Optionally, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is acquisition time corresponding to the acquisition of the first location information, and the second time information is acquisition time corresponding to the acquisition of the second location information, and then associating the first location information with the second location information to obtain the trajectory information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

comparing the first time information with the second time information;

if the first time information is earlier than the second time information, the first position information is used as an entrance starting point of the vehicle, the second position information is used as an exit end point of the vehicle, and track information from the entrance starting point to the exit end point of the vehicle is obtained;

and if the second time information is earlier than the first time information, taking the second position information as an entrance starting point of the vehicle and the first position information as an exit end point of the vehicle to obtain track information from the entrance starting point to the exit end point of the vehicle.

Optionally, the vehicle track information obtaining method further includes:

acquiring vehicle change information detected by a radar;

if the change value of the vehicle represented by the vehicle change information is larger than a first preset change threshold value, controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a first preset frequency so as to communicate with a vehicle-mounted unit of the vehicle;

if the change value of the vehicle represented by the vehicle change information is smaller than a first preset change threshold and larger than a second preset change threshold, controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a second preset frequency;

if the change value of the vehicle represented by the vehicle change information is smaller than a second preset change threshold value, controlling the road side equipment to stop sending the broadcast signal;

the first preset change threshold is greater than the second preset change threshold, and the first preset frequency is greater than the second preset frequency to transmit a broadcast signal.

Optionally, the acquiring vehicle change information detected by the radar includes:

respectively acquiring road condition data corresponding to the radar at the last moment and the current moment, which are acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment, and calculating vehicle change information according to the road condition data;

the road condition data includes position information and mark information of each vehicle, the mark information is used for determining the vehicle performing information interaction with the first road side device and/or the second road side device at the last time, and the last time is the time corresponding to the last communication of the first road side device and/or the second road side device.

Optionally, the calculating vehicle change information of the vehicles on the road according to the road condition data includes:

calculating the number of vehicles with marking information aiming at each vehicle in the road condition data corresponding to the previous moment;

regarding each vehicle in the road condition data corresponding to the current moment, taking the vehicle without the set marking information as a new vehicle;

and determining the ratio of the number of the newly added vehicles to the number of the vehicles with the set mark information, and taking the ratio as the vehicle change information.

In a second aspect, the present application provides a vehicle trajectory route obtaining method, which is applied to a background system, and includes:

obtaining track information of at least one vehicle in a single road node according to the vehicle track information obtaining method;

and generating at least one track route of the vehicle according to at least one track information of the vehicle respectively acquired from at least two adjacent road nodes.

Optionally, the track information further includes time information corresponding to vehicle information of the vehicle; the generating a trajectory route of at least one vehicle according to trajectory information of at least one vehicle respectively acquired from at least two adjacent road nodes includes:

determining the time sequence of at least one piece of track information of the vehicle respectively acquired from at least two adjacent road nodes according to the time information corresponding to the vehicle information;

and for the track information corresponding to the same vehicle information, sequentially associating the track information according to the time sequence to obtain the track route of the single vehicle.

Optionally, the track information further includes direction information corresponding to vehicle information of the vehicle, where the direction information is used to represent a driving direction of a single vehicle in a single road node; the generating a trajectory route of at least one vehicle according to trajectory information of at least one vehicle respectively acquired from at least two adjacent road nodes includes:

determining a direction sequence of at least one piece of track information of the vehicle respectively acquired from at least two adjacent road nodes according to direction information corresponding to the vehicle information, wherein the direction sequence is used for indicating the driving direction of a single vehicle between the two adjacent road nodes;

and for the track information corresponding to the same vehicle information, sequentially associating the track information according to the direction sequence to obtain the track route of the single vehicle.

In a third aspect, the present application provides a vehicle trajectory information obtaining apparatus, where the apparatus is applied to a backend system, and the apparatus includes:

the first obtaining unit is used for obtaining first vehicle information detected by first road side equipment and obtaining second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node;

and the first generating unit is used for generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment.

Optionally, the first vehicle information includes a first vehicle identifier and first location information, and the second vehicle information includes a second vehicle identifier and second location information, where the first vehicle identifier and the second vehicle identifier are used to characterize identity information of a vehicle, and the first location information and the second location information are used to correspondingly characterize locations of the first road-side device and the second road-side device at the road node, where the first generating unit includes:

the first generating module is used for determining the first position information and the first vehicle identifier corresponding to the first position information according to the first vehicle information;

the second generating module is used for determining the second position information and the second vehicle identifier corresponding to the second position information according to the first vehicle information;

and a third generating module, configured to, when the first vehicle identifier is the same as the second vehicle identifier, associate the first position information with the second position information to obtain track information of a vehicle corresponding to the first vehicle identifier or the second vehicle identifier.

Optionally, the first road-side device is disposed on a road that enters the road node in the driving direction, the second road-side device is disposed on a road that leaves the road node in the driving direction, and the third generating module includes:

and the first generation submodule is used for taking the first position information as an entrance starting point of the vehicle and taking the second position information as an exit end point of the vehicle to obtain track information from the entrance starting point to the exit end point of the vehicle.

Optionally, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is acquisition time corresponding to the acquisition of the first location information, the second time information is acquisition time corresponding to the acquisition of the second location information, and the third generating module includes:

the comparison submodule is used for comparing the first time information with the second time information;

the second generation submodule is used for taking the first position information as an entrance starting point of the vehicle and the second position information as an exit end point of the vehicle to obtain track information from the entrance starting point to the exit end point of the vehicle if the first time information is earlier than the second time information;

and the third generation submodule is used for taking the second position information as an entrance starting point of the vehicle and the first position information as an exit end point of the vehicle to obtain track information from the entrance starting point to the exit end point of the vehicle if the second time information is earlier than the first time information.

Optionally, the apparatus further comprises:

the second acquisition unit is used for acquiring vehicle change information detected by the radar;

the first control unit is used for controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a first preset frequency to communicate with a vehicle-mounted unit of the vehicle if the change value of the vehicle change information representing the vehicle is larger than a first preset change threshold value;

the second control unit is used for controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a second preset frequency if the change value of the vehicle change information representing the vehicle is smaller than a first preset change threshold and larger than a second preset change threshold;

the third control unit is used for controlling the road side equipment to stop sending the broadcast signal if the change value of the vehicle change information representation vehicle is smaller than a second preset change threshold value;

Optionally, the second obtaining unit includes:

the acquisition module is used for respectively acquiring road condition data corresponding to the radar at the last moment and the current moment, which are acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment;

the calculation module is used for calculating vehicle change information according to the road condition data;

Optionally, the calculation module includes:

the calculation submodule is used for calculating the number of the vehicles with the marking information aiming at each vehicle in the road condition data corresponding to the previous moment;

the identification submodule is used for regarding each vehicle in the road condition data corresponding to the current moment, and regarding the vehicle without the set marking information as a new vehicle;

and the determining submodule is used for determining the ratio of the number of the newly added vehicles to the number of the vehicles with the set marking information, and taking the ratio as the vehicle change information.

In a fourth aspect, the present application provides a vehicle trajectory route obtaining device, where the device is applied to a background system, and the device includes:

a first obtaining unit, configured to obtain trajectory information of at least one vehicle in a single road node obtained by the vehicle trajectory information obtaining device according to any one of the third aspects;

the first generating unit is used for generating at least one track route of the vehicle according to at least one track information of the vehicle respectively acquired from at least two adjacent road nodes.

Optionally, the track information further includes time information corresponding to vehicle information of the vehicle; the first generation unit includes:

the first acquisition module is used for determining the time sequence of at least one piece of track information of the vehicle respectively acquired from at least two adjacent road nodes according to the time information corresponding to the vehicle information;

and the first generation module is used for associating the track information corresponding to the same vehicle information according to the time sequence to obtain the track route of the single vehicle.

Optionally, the track information further includes direction information corresponding to vehicle information of the vehicle, where the direction information is used to represent a driving direction of a single vehicle in a single road node; the first generation unit includes:

the second acquisition module is used for determining a direction sequence of at least one piece of track information of the vehicle respectively acquired from at least two adjacent road nodes according to direction information corresponding to the vehicle information, and the direction sequence is used for indicating the driving direction of a single vehicle between the two adjacent road nodes;

and the second generation module is used for sequentially associating the track information corresponding to the same vehicle information according to the direction sequence to obtain the track route of the single vehicle.

Optionally, the direction in which the road side device transmits the broadcast signal is toward the vehicle driving direction.

In a fifth aspect, the present application provides an electronic device, where the electronic device is applied to a backend system, and the electronic device includes: a memory and a processor;

the memory is to store computer instructions; the processor is configured to execute the computer instructions stored by the memory to implement the method of any one of the first and second aspects.

In a sixth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method of any one of the first and second aspects when executed by a processor.

The application provides a vehicle track information acquisition method, a device, equipment and a storage medium, wherein Road Side equipment (RSU) arranged near a Road node is communicated with a vehicle-mounted Unit of a vehicle to acquire information of each vehicle on the Road, and track information of each vehicle is generated according to the information of each vehicle detected by the Road Side equipment, so that the driving path of the vehicle is quickly and accurately identified; meanwhile, vehicle change information is detected through a radar arranged on a road, the current road vehicle congestion condition is represented by the vehicle change information, and the frequency of the road side equipment for sending the broadcast signal is adjusted according to the comparison of the vehicle change information and a preset change threshold value, so that the invalid communication between the road side equipment and the vehicle-mounted unit is reduced, and the electric quantity loss of the road side equipment and the vehicle-mounted unit is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a flowchart of a vehicle trajectory information obtaining method according to an embodiment of the present disclosure;

fig. 2 is a schematic layout diagram of a roadside apparatus provided in an embodiment of the present application;

fig. 3 is a flowchart of another vehicle trajectory information obtaining method according to an embodiment of the present application;

fig. 4 is a flowchart of a vehicle trajectory route obtaining method according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle trajectory information acquiring apparatus according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of another vehicle trajectory information acquiring apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle trajectory route acquiring apparatus according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that the terms or terms referred to in the embodiments of the present application may be mutually referred and are not described in detail.

With the accelerated urbanization process of China, the urban traffic pressure is increased, higher requirements are put forward on urban traffic management, and the monitoring of road traffic is a premise for implementing urban traffic management, and particularly important, the monitoring of road traffic needs to acquire vehicle track information firstly.

The specific application scenario of the embodiment of the application is as follows: and monitoring the road traffic to acquire track information of each vehicle, so as to master the congestion state of the road traffic. Traffic management departments generally need to implement different traffic control measures according to the congestion condition of road traffic to manage urban traffic.

In one example, the road conditions of various places are generally monitored by a camera and the traffic conditions of various places are managed according to the monitoring result, and the monitoring mode needs to identify and process a large number of images, so that the identification speed is limited, the identification accuracy is not improved, and the acquisition of vehicle track information is slow.

The embodiment of the application provides a vehicle track information acquisition method, a vehicle track information acquisition device, a vehicle track information acquisition equipment and a storage medium, and aims to solve the technical problems in the prior art. In the application scenario of the present application, an on-board unit is installed in each vehicle.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a vehicle trajectory information obtaining method according to an embodiment of the present application, and as shown in fig. 1, the method includes:

101. the method comprises the steps of obtaining first vehicle information detected by first road side equipment and obtaining second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node.

In this embodiment, the execution main body of this embodiment may be a background system, a server, or an apparatus or device for executing the method of this embodiment, and this embodiment takes the execution main body as the background system for description.

In an example, fig. 2 is a schematic layout diagram of the roadside device provided in the embodiment of the present application, as shown in fig. 2, the roadside devices 02 are disposed at and near the intersection of a road and a road node, at least one roadside device 02 is disposed on each lane connected to the road node, and the communication direction of the roadside devices 02 faces the driving direction of the vehicle 01, so that the roadside devices 02 communicate with the on-board unit for the first time. Wherein the communication direction of the roadside apparatus 02 refers to a direction in which a communication broadcast is sent out from the roadside apparatus. For example, for a two-way two-lane crossroad node, according to the difference of the driving directions of the lanes, the roads connected with the road node may be divided into 4 driving-in roads and 4 driving-out roads, roadside devices 02 are arranged on each driving-in road and each driving-out road, that is, at least 8 roadside devices are arranged in total, the detection area 03 of each roadside device 02 faces the driving direction, each roadside device 02 corresponds to corresponding unique position information, and the position information may be coordinate information of a corresponding road or a road number of a corresponding road.

The roadside device includes a first roadside device and a second roadside device, and for a single road node, while acquiring the detected vehicle information of any one of the roadside devices in the road node, the roadside device may be defined as the first roadside device, which is defined as the first vehicle information corresponding to the detected vehicle information, for the execution subject of step 101. For the same road node, the remaining roadside devices that are not defined as the first roadside device may be defined as the second roadside devices, or the roadside devices on the road opposite to the driving direction of the road on which the first roadside device is located may be defined as the second roadside devices. And simultaneously defining the vehicle information correspondingly detected by the second road side equipment as second vehicle information. For example, for a two-way two-lane cross road node, after a roadside device on an incoming road of one of 8 roadside devices is defined as a first roadside device, the remaining 7 roadside devices on the road node may be defined as second roadside devices, or the remaining 4 roadside devices on an outgoing road of the road node may be defined as second roadside devices. The vehicle information comprises vehicle marks such as license plates, frame numbers and vehicle models and position information of road side equipment communicated with the vehicle, wherein the vehicle marks are used for representing identity information of the vehicle, the vehicle marks are stored in an on-board unit of the vehicle, the road side equipment can quickly and accurately obtain the vehicle marks by performing information interaction with the on-board unit, and the position information is used for correspondingly representing the position of the road side equipment located in the road nodes with the vehicle.

102. And generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by the at least one second road side equipment.

In this embodiment, the roadside device uploads the acquired information of each vehicle to the background system, and the information may be uploaded immediately after the vehicle completes first communication when entering the road node, or may be uploaded when the vehicle enters the road node, and is uploaded to the background system when waiting for the vehicle to finish communication again when exiting the road node.

For example, the background system may obtain track information of each vehicle under a road node according to the obtained first vehicle information and second vehicle information of the road node.

In the vehicle track information acquiring method provided by this embodiment, by acquiring the first vehicle information detected by the first road side device and the second vehicle information detected by the at least one second road side device on the same road node, and comparing the first vehicle information with the second vehicle information, the information that the at least one vehicle enters and exits the road node is acquired, the track information of each vehicle on the road node can be quickly generated, the video monitoring by a camera is not required, and the speed and accuracy of acquiring the vehicle track information are improved because the image processing process is not required.

Fig. 3 is a flowchart of another vehicle trajectory information obtaining method according to an embodiment of the present application, and as shown in fig. 3, the method includes:

201. respectively acquiring road condition data corresponding to the radar at the last moment and the current moment, which are acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment, and calculating vehicle change information according to the road condition data; the road condition data comprises position information and mark information of each vehicle, the mark information is used for determining the vehicle which carries out information interaction with the first road side equipment and/or the second road side equipment at the last time, and the last time is the time corresponding to the last communication of the first road side equipment and/or the second road side equipment.

Illustratively, after acquiring the road condition data acquired by the data acquisition device, the background system counts the road condition data of the lane within the preset time. The road condition data comprises position information and mark information of each vehicle; the mark information is used for determining a vehicle which carries out information interaction with the first road side equipment and/or the second road side equipment at the last time, and the last time is the time corresponding to the last communication of the first road side equipment and/or the second road side equipment. And obtaining vehicle change information on the road in a preset time interval according to the traffic flow and the vehicle position information in the adjacent preset time.

Specifically, the number of vehicles with marking information is calculated for each vehicle in the road condition data corresponding to the previous moment; regarding each vehicle in the road condition data corresponding to the current moment, taking the vehicle without the set marking information as a new vehicle; the ratio of the number of newly added vehicles to the number of vehicles for which flag information is set is taken as vehicle variation information.

The vehicle change information can accurately represent the current road condition information. Specifically, when the change information is large, the current vehicle on the road is represented to run smoothly, and the problem of traffic jam does not exist. On the contrary, when the change information is small, that is, the vehicle on the road at the current moment is less changed than the vehicle on the road at the previous moment, therefore, traffic jam or red light waiting condition may exist.

202. If the change value of the vehicle represented by the vehicle change information is larger than a first preset change threshold value, controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a first preset frequency so as to communicate with a vehicle-mounted unit of the vehicle; if the change value of the vehicle represented by the vehicle change information is smaller than a first preset change threshold and larger than a second preset change threshold, controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a second preset frequency; if the change value of the vehicle represented by the vehicle change information is smaller than a second preset change threshold value, controlling the road side equipment to stop sending the broadcast signal; the first preset change threshold is larger than the second preset change threshold, and the first preset frequency is larger than the second preset frequency to send the broadcast signal. It should be noted that, in the present application, the frequency at which the roadside device transmits the broadcast signal refers to the time interval frequency at which the roadside device transmits the broadcast signal twice, and not to the frequency of the broadcast signal itself.

In the present embodiment, the frequency at which the roadside device transmits the broadcast signal is adjusted according to the vehicle change information obtained in step 201. If the change value of the vehicle change information representation vehicle is greater than the first preset change threshold value, it is indicated that the road is smooth at the moment, and the problem of traffic jam or red light waiting does not exist. In practical applications, the first preset frequency may be a default of the system or may be set by the user.

For example, if the vehicle change information indicates that the change value of the vehicle is smaller than a first preset change threshold and larger than a second preset change threshold, it indicates that there may be a traffic jam or a red light waiting condition on the road at this time, and the vehicle running speed is slow. Therefore, in order to avoid frequently waking up the communicated vehicle-mounted unit so as to excessively consume the electric quantity of the vehicle-mounted unit, the background system may control the road-side device to transmit the broadcast signal at a second lower preset frequency, so as to perform information interaction with the vehicle-mounted unit. In practical applications, the preset variation threshold and the second frequency may be default of the system or set by the user.

If the vehicle change information represents that the change value of the vehicle is smaller than a second preset change threshold value, it indicates that no vehicle passes through or is heavily congested on the current road, the road side equipment does not need to perform information interaction with the on-board unit, and in order to prolong the service life of the on-board unit, the road side equipment is controlled to stop sending the broadcast signal, so that the communication with the on-board unit is stopped.

The execution order of

steps

201 and 202 and

steps

203 and 204 is not limited.

203. The method comprises the steps of obtaining first vehicle information detected by first road side equipment and obtaining second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node.

In this embodiment, this step may refer to step 101 shown in fig. 1, and is not described again.

204. Determining first position information and a first vehicle identifier corresponding to the first position information according to the first vehicle information; determining second position information and a second vehicle identifier corresponding to the second position information according to the first vehicle information; and when the first vehicle identifier is the same as the second vehicle identifier, associating the first position information with the second position information to obtain the track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier.

For example, the first vehicle information includes a first vehicle identifier and first position information, and the second vehicle information includes a second vehicle identifier and second position information, where the first vehicle identifier and the second vehicle identifier are used to represent identity information of the vehicle, and the first position information and the second position information are used to correspondingly represent positions of the first road-side device and the second road-side device at the road node. Therefore, the first and second vehicle information acquired by the road side equipment can represent the position information of the vehicle at a certain moment, and the position information is the position of the road side equipment at the road node.

When the first vehicle identifier is the same as the second vehicle identifier, the first vehicle and the second vehicle are represented as the same vehicle, and the track information of the vehicle at a road node can be obtained by associating the first position information corresponding to the first vehicle information with the second position information corresponding to the second vehicle information.

There are two possible implementations of step 204, and in one possible implementation, step 204 specifically includes:

and obtaining the track information from the vehicle to the vehicle from the entrance starting point to the exit end point by taking the first position information as the entrance starting point of the vehicle and the second position information as the exit end point of the vehicle.

The first road side equipment is arranged on a road with the driving direction as an entering road node, and the second road side equipment is arranged on a road with the driving direction as an leaving road node.

In another possible manner of this embodiment, the track information from the entrance starting point to the exit ending point of the vehicle is obtained by using the second position information as the entrance starting point of the vehicle and the first position information as the exit ending point of the vehicle.

The first road side equipment is arranged on a road with a driving direction of leaving a road node, and the second road side equipment is arranged on a road with a driving direction of entering the road node.

In the present embodiment, the first roadside apparatus and/or the second roadside apparatus are installed on a road having a driving direction entering a road node, and specifically, the roadside apparatus is installed on a road connected to the road node, may be at a junction with the road node, or may be near the junction.

In another possible implementation, step 204 specifically includes:

the first vehicle information further comprises first time information, the second vehicle information further comprises second time information, and the first time information is compared with the second time information; if the first time information is earlier than the second time information, the first position information is used as an entrance starting point of the vehicle, the second position information is used as an exit end point of the vehicle, and track information from the entrance starting point to the exit end point of the vehicle is obtained; and if the second time information is earlier than the first time information, the second position information is used as an entrance starting point of the vehicle, the first position information is used as an exit end point of the vehicle, and track information from the entrance starting point to the exit end point of the vehicle is obtained.

In this embodiment, the first time information is a collection time corresponding to the collection of the first position information, and the second time information is a collection time corresponding to the collection of the second position information; the time when the road side equipment acquires the position information is the time when the road side equipment and the vehicle-mounted unit communicate when the vehicle drives to the position, if the first time information is earlier than the second time information, the vehicle firstly passes through the first road side equipment and then passes through the second road side equipment, namely the vehicle drives into the road node from the first position where the first road side equipment is located, and drives out of the road node from the second position where the second road side equipment is located, so that the first position information is used as a driving-in starting point of the vehicle, the second position information is used as a driving-out terminal point of the vehicle, and track information from the driving-in starting point to the driving-out terminal point of the vehicle is obtained; similarly, if the first time information is later than the second time information, it indicates that the vehicle passes through the second roadside device first and then passes through the first roadside device, that is, the vehicle enters the road node from the second position where the second roadside device is located, and exits the road node from the first position where the first roadside device is located, so that the second position information is used as an entrance starting point of the vehicle, the first position information is used as an exit end point of the vehicle, and the track information from the entrance starting point to the exit end point of the vehicle is obtained.

According to the vehicle track information acquisition method provided by the embodiment, the transmission frequency of the road side equipment is adjusted in real time by acquiring the vehicle change information detected by the radar, the vehicle information detected by each road side equipment on a road node is acquired, the position information of each vehicle can be acquired, the track information of each vehicle is generated according to the acquired vehicle position information and the time information corresponding to each vehicle information, the frequency of the road side equipment for transmitting the broadcast signal is adjusted in real time, and when the road is congested, the frequency of the road side equipment for transmitting the broadcast signal is reduced, so that the invalid communication between the road side equipment and the vehicle-mounted unit is reduced, the power consumption of the road side equipment and the vehicle-mounted unit is reduced, and the vehicle track information acquisition speed is high and accurate because the vehicle information is acquired only through the communication between the road side equipment and the vehicle-mounted unit.

Fig. 4 is a flowchart of a vehicle trajectory route obtaining method provided in an embodiment of the present application, and as shown in fig. 4, the method includes:

301. obtaining the track information of at least one vehicle in a single road node according to the vehicle track information obtaining method;

in this embodiment, the step may refer to the method provided in the above embodiment, and details are not described again.

302. And generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes.

The background system needs to acquire vehicle track information of the same vehicle at least two adjacent road nodes to generate a track route of the vehicle, wherein a road between the two adjacent road nodes does not have a fork, that is, the road between the two adjacent road nodes is closed, and the vehicle can only drive from one road node to the other adjacent road node.

There are two possible implementations of step 302, and in one possible implementation, step 302 specifically includes:

the track information also comprises time information corresponding to the vehicle information of the vehicle; determining the time sequence of at least one piece of vehicle track information respectively acquired from at least two adjacent road nodes according to the time information corresponding to the vehicle information; and for the track information corresponding to the same vehicle information, sequentially associating the track information according to the time sequence to obtain the track route of the single vehicle.

For example, the vehicle track information further includes time information corresponding to the vehicle information, where the time information is a time when the road-side device of a single road node collects the vehicle information and generates the vehicle track information, and represents that the vehicle passes through the road node at a certain time period or a certain time. To obtain the vehicle track route, at least vehicle track information of two adjacent road nodes is acquired, generally, when a road node is an intersection, vehicle track information of four adjacent road nodes of the road node needs to be acquired, and when the road node is a t-junction, vehicle track information of three adjacent road nodes of the road node needs to be acquired. The vehicle track information of at least two adjacent road nodes obtained in step 301 may obtain time information when a certain vehicle passes through the at least two adjacent road nodes, and the background system may associate the obtained vehicle track information according to the time sequence when the same vehicle passes through the two adjacent road nodes, so as to obtain at least one track route of the vehicle.

In another possible implementation, step 302 specifically includes:

the track information also comprises direction information corresponding to the vehicle information of the vehicle, and the direction information is used for representing the driving direction of the single vehicle in the single road node; determining a direction sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to direction information corresponding to the vehicle information, wherein the direction sequence is used for indicating the driving direction of a single vehicle between the two adjacent road nodes; and for the track information corresponding to the same vehicle information, sequentially associating the track information according to the direction sequence to obtain the track route of the single vehicle.

For example, the track information includes direction information corresponding to the vehicle information, and the direction information represents a driving direction of a vehicle at a single road node. The background system determines a direction sequence of at least one piece of vehicle track information respectively acquired from at least two adjacent road nodes according to the direction information corresponding to the vehicle information, for example, if the exit direction of a first road node points to the entrance direction of an adjacent second road node, it is determined that the vehicle passes through the first road node first, the sequence of the first road node is before the sequence of the second road node, and then the direction sequence of the vehicle track information can be obtained, and further, the track information of the same vehicle is related according to the direction sequence, and then the track route of the vehicle can be obtained.

According to the vehicle track route acquisition method provided by the embodiment, track information of each vehicle on at least two adjacent road nodes is acquired, and a track route of each vehicle is generated according to the acquired vehicle track information and time information corresponding to the track information or direction information corresponding to the track information, so that the vehicle track route is quickly acquired, and road traffic is quickly and accurately monitored.

Fig. 5 is a schematic structural diagram of a vehicle trajectory information acquiring device provided in an embodiment of the present application, and as shown in fig. 5, the device of the present embodiment is applied to a background system, and includes:

the first obtaining unit 51 is configured to obtain first vehicle information detected by a first road-side device, and obtain second vehicle information detected by at least one second road-side device, where the first road-side device and the at least one second road-side device are disposed at different positions of a same road node.

The first generating unit 52 is configured to generate trajectory information of at least one vehicle according to the first vehicle information detected by the first road-side device and the second vehicle information detected by the at least one second road-side device.

For example, the present embodiment may refer to the above method embodiments, and the principle and the technical effect are similar and will not be described again.

Fig. 6 is a schematic structural diagram of another vehicle trajectory information acquiring apparatus according to an embodiment of the present application, and based on the embodiment shown in fig. 5, as shown in fig. 6, in the apparatus, a first generating unit 52 includes:

the first generating module 521 is configured to determine first location information and a first vehicle identifier corresponding to the first location information according to the first vehicle information.

The second generating module 522 is configured to determine second location information and a second vehicle identifier corresponding to the second location information according to the first vehicle information.

The third generating module 523 is configured to associate the first position information with the second position information when the first vehicle identifier is the same as the second vehicle identifier, so as to obtain track information of a vehicle corresponding to the first vehicle identifier or the second vehicle identifier.

In one example, the first vehicle information includes a first vehicle identifier and first position information, and the second vehicle information includes a second vehicle identifier and second position information, where the first vehicle identifier and the second vehicle identifier are used to represent identity information of the vehicle, and the first position information and the second position information are used to correspondingly represent positions of the first road-side device and the second road-side device at the road node.

In one example, the third generating module 523 includes:

the first generating submodule 5231 is configured to obtain trajectory information from the entrance start point to the exit end point of the vehicle by using the first position information as the entrance start point of the vehicle and the second position information as the exit end point of the vehicle.

In one example, the first road-side device is disposed on a road having a traveling direction entering the road node, and the second road-side device is disposed on a road having a traveling direction leaving the road node.

Or, in an example, the third generating module 523 further includes:

a comparison sub-module 5232, configured to compare the first time information with the second time information.

The second generating submodule 5233 is configured to obtain trajectory information from the entrance start point to the exit end point of the vehicle by using the first position information as the entrance start point of the vehicle and the second position information as the exit end point of the vehicle, if the first time information is earlier than the second time information.

The third generating submodule 5234 is configured to obtain trajectory information from the entry start point to the exit end point of the vehicle by using the second position information as the entry start point of the vehicle and the first position information as the exit end point of the vehicle, if the second time information is earlier than the first time information.

In one example, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is acquisition time corresponding to the acquisition of the first location information, and the second time information is acquisition time corresponding to the acquisition of the second location information.

In an example, the apparatus provided in this embodiment further includes:

and a second obtaining unit 53 configured to obtain vehicle change information detected by the radar.

And the first control unit 54 is configured to control the first road side device and/or the second road side device to send a broadcast signal according to a first preset frequency to communicate with an on-board unit of the vehicle if the vehicle change information indicates that the change value of the vehicle is greater than a first preset change threshold value.

And the second control unit 55 is configured to control the first road side device and/or the second road side device to send the broadcast signal according to a second preset frequency if the change value of the vehicle change information representing the vehicle is smaller than the first preset change threshold and larger than the second preset change threshold.

And a third control unit 56, configured to control the road side device to stop sending the broadcast signal if the change value of the vehicle change information represents that the vehicle is smaller than a second preset change threshold.

In one example, the first preset variation threshold is greater than the second preset variation threshold, and the first preset frequency is greater than the second preset frequency to transmit the broadcast signal.

In one example, the second obtaining unit 53 includes:

the obtaining module 531 is configured to obtain road condition data corresponding to the previous time and the current time, which are collected by the radar in the communication area of the first road side device and/or the second road side device, respectively.

The calculating module 532 is configured to calculate vehicle change information according to the road condition data.

In one example, the traffic data includes location information and tag information of each vehicle, where the tag information is used to determine a vehicle that has performed information interaction with the first roadside device and/or the second roadside device at a previous time, and the previous time is a time corresponding to the last communication of the first roadside device and/or the second roadside device.

In one example, the calculation module 532 includes:

the calculating submodule 5321 is configured to calculate, for each vehicle in the traffic data corresponding to the previous time, the number of vehicles with the set flag information.

The identification submodule 5322 is configured to, for each vehicle in the road condition data corresponding to the current time, use the vehicle without the set flag information as a new vehicle.

The determination sub-module 5323 is configured to determine a ratio of the number of newly added vehicles to the number of vehicles for which flag information is set, and use the ratio as vehicle variation information.

Fig. 7 is a schematic structural diagram of a vehicle trajectory route acquiring device provided in an embodiment of the present application, and as shown in fig. 7, the device is applied to a background system, and the device includes:

a first obtaining unit 61, configured to obtain the trajectory information of at least one vehicle in a single road node obtained by the vehicle trajectory information obtaining apparatus provided in any one of the above embodiments.

The first generating unit 62 is configured to generate a trajectory route of at least one vehicle according to trajectory information of the at least one vehicle respectively acquired from at least two adjacent road nodes.

In one example, the first generating unit 62 includes:

the first obtaining module 621 is configured to determine, according to the time information corresponding to the vehicle information, a time sequence of trajectory information of at least one vehicle respectively obtained from at least two adjacent road nodes.

The first generating module 622 is configured to associate the track information corresponding to the same vehicle information in time sequence to obtain a track route of a single vehicle.

In one example, the trajectory information further includes time information corresponding to vehicle information of the vehicle.

Or, in one example, the first generating unit 62 includes:

a second obtaining module 623, configured to determine, according to the direction information corresponding to the vehicle information, a direction sequence of the trajectory information of at least one vehicle respectively obtained from at least two adjacent road nodes, where the direction sequence is used to indicate a driving direction of a single vehicle between the two adjacent road nodes.

The second generating module 624 is configured to associate the trajectory information corresponding to the same vehicle information in sequence according to the direction order, so as to obtain a trajectory route of a single vehicle.

In one example, the trajectory information further includes direction information corresponding to vehicle information of the vehicle, the direction information being used to characterize a direction of travel of the single vehicle within the single road node.

In one example, the direction in which the roadside apparatus transmits the broadcast signal is toward the vehicle traveling direction.

Fig. 8 is a block diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 8, the electronic device includes: a memory 71, and a processor 72.

The memory 71 is used for storing processor executable instructions. In particular, the executable instructions may comprise program code comprising computer operational instructions. The memory may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 72 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the embodiments of the present disclosure. The processor 72 may perform the method provided by any of the above embodiments.

Alternatively, in a specific implementation, if the memory 71 and the processor 72 are implemented independently, the memory 71 and the processor 72 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.

Alternatively, in a specific implementation, if the memory 71 and the processor 72 are integrated on a chip, the memory and the processor may perform the same communication through an internal interface.

Another embodiment of the present disclosure also provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method of any one of the above embodiments when executed by a processor.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A vehicle track information acquisition method is applied to a background system and comprises the following steps:

2. The vehicle track information acquiring method according to claim 1, wherein the first vehicle information includes a first vehicle identifier and first position information, and the second vehicle information includes a second vehicle identifier and second position information, where the first vehicle identifier and the second vehicle identifier are used to represent identity information of vehicles, and the first position information and the second position information are used to correspondingly represent positions of the first road side device and the second road side device at the road node, and then track information of at least one vehicle is generated according to the first vehicle information detected by the first road side device and the second vehicle information detected by at least one second road side device, including:

3. The vehicle trajectory information acquiring method according to claim 2, wherein if the first road-side device is disposed on a road having a traveling direction entering the road node and the second road-side device is disposed on a road having a traveling direction leaving the road node, associating the first position information with the second position information to obtain the trajectory information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

4. The vehicle track information acquiring method according to claim 2, wherein the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is an acquisition time corresponding to the acquisition of the first position information, and the second time information is an acquisition time corresponding to the acquisition of the second position information, and then associating the first position information with the second position information to obtain the track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

comparing the first time information with the second time information;

5. The vehicle track information acquisition method according to any one of claims 1 to 4, characterized by further comprising:

acquiring vehicle change information detected by a radar;

6. The vehicle track information acquisition method according to claim 5, wherein the acquiring of the vehicle change information detected by the radar includes:

7. The vehicle track information acquisition method according to claim 6, wherein the calculating vehicle change information of vehicles on a road according to the road condition data includes:

8. A vehicle track route acquisition method is applied to a background system and comprises the following steps:

obtaining trajectory information of at least one vehicle within a single road node according to the vehicle trajectory information obtaining method of any one of claims 1 to 7;

9. The vehicle trajectory route acquisition method according to claim 8, characterized in that the trajectory information further includes time information corresponding to vehicle information of the vehicle; the generating a trajectory route of at least one vehicle according to trajectory information of at least one vehicle respectively acquired from at least two adjacent road nodes includes:

10. The vehicle trajectory route acquisition method according to claim 8, wherein the trajectory information further includes direction information corresponding to vehicle information of the vehicle, the direction information being used to represent a traveling direction of a single vehicle within a single road node; the generating a trajectory route of at least one vehicle according to trajectory information of at least one vehicle respectively acquired from at least two adjacent road nodes includes:

11. A vehicle track information acquisition device is characterized in that the device is applied to a background system, and the device comprises:

12. The apparatus of claim 11, wherein the first vehicle information comprises a first vehicle identifier and first location information, and the second vehicle information comprises a second vehicle identifier and second location information, wherein the first vehicle identifier and the second vehicle identifier are used for characterizing identity information of a vehicle, and the first location information and the second location information are used for correspondingly characterizing locations of the first road side device and the second road side device at the road node, and the first generating unit comprises:

13. The apparatus according to claim 12, wherein the first road-side device is disposed on a road having a driving direction entering the road node, and the second road-side device is disposed on a road having a driving direction leaving the road node, and the third generating module includes:

14. The apparatus of claim 12, wherein the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is an acquisition time corresponding to the acquisition of the first location information, the second time information is an acquisition time corresponding to the acquisition of the second location information, and the third generating module includes:

15. The apparatus according to any one of claims 11-14, further comprising:

16. The apparatus of claim 15, wherein the second obtaining unit comprises:

17. The apparatus of claim 16, wherein the computing module comprises:

18. A vehicle track route acquisition device is characterized in that the device is applied to a background system, and the device comprises:

a first acquisition unit configured to acquire trajectory information indicating at least one vehicle within a single road node generated by the vehicle trajectory information acquisition device according to any one of claims 11 to 17;

19. The apparatus according to claim 18, wherein the trajectory information further includes time information corresponding to vehicle information of the vehicle; the first generation unit includes:

20. The apparatus of claim 18, wherein the trajectory information further includes direction information corresponding to vehicle information of the vehicle, the direction information being indicative of a direction of travel of a single one of the vehicles within a single one of the road nodes; the first generation unit includes:

21. The apparatus of any one of claims 18-20, wherein the direction of the roadside device transmitting the broadcast signal is toward a direction of vehicle travel.

22. An electronic device, wherein the device is applied to a background system, and the device comprises: a memory and a processor;

the memory is to store computer instructions; the processor is configured to execute the computer instructions stored by the memory to implement the method of any one of claims 1 to 10.

23. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 10.